相关论文: Beacon-Based Feedback Control for Parking an Activ…

In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position…

In this paper, we present a framework for self-localization of parking robots in a parking lot innovatively using square-like landmarks, aiming to provide a positioning solution with low cost but high accuracy. It utilizes square structures…

Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…

In this paper, we introduce a new sensor-based control method that regulates (by means of robot motions) the heat transfer between a radiative source and an object of interest. This valuable sensorimotor capability is needed in many…

Due to possibly changing pose of a movable object and nonholonomic constraint of a differential-drive robot, it is challenging to design an object servoing scheme for the differential-drive robot to asymptotically park at a predefined…

This paper presents a novel integrated approach to deal with the decision making and motion planning for lane-change maneuvers of autonomous vehicle (AV) considering social behaviors of surrounding traffic occupants. Reflected by driving…

This paper investigates autonomous vehicle (AV) platoon control under uncertain dynamics and intermittent communication, which remains a critical challenge in intelligent transportation systems. To address these issues, this paper proposes…

This paper presents a framework for stabilizing the Dubins vehicle model to zero in finite time (deadbeat parking) by interpreting distance as a time-like variable. We develop control laws that bring the system to a desired position and…

In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…

In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and…

Autonomous vehicles require highly sophisticated decision-making to determine their motion. This paper describes how such functionality can be achieved with a practical rule engine learned from expert driving decisions. We propose an…

The paper takes the first step towards the de- velopment of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from…

Self-organized robots may develop attracting states within the sensorimotor loop, that is within the phase space of neural activity, body, and environmental variables. Fixpoints, limit cycles, and chaotic attractors correspond in this…

In this paper, we apply a Control Lyapunov Function methodology to design two families of cruise controllers for the two-dimensional movement of autonomous vehicles on lane-free roads using the bicycle kinematic model. The control Lyapunov…

Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…

For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major challenges, especially when dynamic robots must balance…

A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…

The paper presents the electronic design and motion planning of a robot based on decision making regarding its straight motion and precise turn using Artificial Neural Network (ANN). The ANN helps in learning of robot so that it performs…

Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking controllers that neglect the environment dynamics may not be…

Simulation modeling of robots, objects, and environments is the backbone for all model-based control and learning. It is leveraged broadly across dynamic programming and model-predictive control, as well as data generation for imitation,…